OpenCV_Line_Tracking/Code at main · Miiu64/OpenCV_Line_Tracking · GitHub

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import numpy as np

import cv2


video_capture = cv2.VideoCapture(1)

video_capture.set(3, 160)

video_capture.set(4, 120)


while(True):


    # Capture the frames

    ret, frame = video_capture.read()


    # Crop the image

    crop_img = frame[60:120, 0:160]


    # Convert to grayscale

    gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY)


    # Gaussian blur

    blur = cv2.GaussianBlur(gray,(5,5),0)


    # Color thresholding

    ret,thresh = cv2.threshold(blur,60,255,cv2.THRESH_BINARY_INV)


    # Find the contours of the frame

    contours,hierarchy = cv2.findContours(thresh.copy(), 1, cv2.CHAIN_APPROX_NONE)


    # Find the biggest contour (if detected)

    if len(contours) > 0:

        c = max(contours, key=cv2.contourArea)

        M = cv2.moments(c)


        cx = int(M['m10']/M['m00'])

        cy = int(M['m01']/M['m00'])


        cv2.line(crop_img,(cx,0),(cx,720),(255,0,0),1)

        cv2.line(crop_img,(0,cy),(1280,cy),(255,0,0),1)


        cv2.drawContours(crop_img, contours, -1, (0,255,0), 1)


        if cx >= 120:

            print ("Turn Right")


        if cx < 120 and cx > 50:

            print ("On Track!")


        if cx <= 50:

            print ("Turn Left")


    else:

        print ("I don't see the line")


    #Display the resulting frame

    cv2.imshow('frame',crop_img)

    if cv2.waitKey(1) & 0xFF == ord('q'):

        break